US6225770B1 - Method for the control of motor driven adjustment devices in motor vehicles - Google Patents

Method for the control of motor driven adjustment devices in motor vehicles Download PDF

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Publication number
US6225770B1
US6225770B1 US09/360,601 US36060199A US6225770B1 US 6225770 B1 US6225770 B1 US 6225770B1 US 36060199 A US36060199 A US 36060199A US 6225770 B1 US6225770 B1 US 6225770B1
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Prior art keywords
signal generator
motor
speed
correction values
partitions
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US09/360,601
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English (en)
Inventor
Peter Heinrich
Mike Eichhorn
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Brose Fahrzeugteile SE and Co KG
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Brose Fahrzeugteile SE and Co KG
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Priority claimed from DE19835091A external-priority patent/DE19835091C1/de
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/665—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings
    • E05F15/689—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings specially adapted for vehicle windows
    • E05F15/695—Control circuits therefor
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/665—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings
    • E05F15/689—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings specially adapted for vehicle windows
    • E05F15/697—Motor units therefor, e.g. geared motors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/334—Position control, detection or monitoring by using pulse generators
    • E05Y2400/336—Position control, detection or monitoring by using pulse generators of the angular type
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/334—Position control, detection or monitoring by using pulse generators
    • E05Y2400/342—Pulse count value setting or correcting
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/50—Fault detection
    • E05Y2400/502—Fault detection of components
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Application of doors, windows, wings or fittings thereof for vehicles characterised by the type of wing
    • E05Y2900/55—Windows
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/90—Specific system operational feature
    • Y10S388/902—Compensation

Definitions

  • the invention concerns the process for the control of motor driven adjustment devices in motor vehicles.
  • control devices may, for example, be a window lifter, a sun roof control, or a seat adjustment device.
  • a window lifter with a drive to raise and lower a window pane and with an entrapment protection device is known.
  • the speed of the drive and thus the opening and closing speed of the window pane, as well as the direction of movement and position of the window pane, are detected.
  • the load on the drive increases, and the drive speed drops below a predefined value.
  • the drive turns off and possibly reverses, and results in the stopping or opening of the window pane.
  • a sensor for sensing a position and direction of rotation consists of a magnetic disk with a north and south pole as well as two Hall sensors offset an angle of 90° relative to each other around the axis of the magnetic disk connected to the drive shaft, which emit sensor signals offset from each other by one-fourth period, from which the direction rotation and thus the direction of movement of the window pane is determined.
  • the position sensor consists of an annular multipole magnet connected to the drive shaft with alternatingly magnetized magnetic poles and two Hall sensors, which are disposed at a distance of one-half magnetic pole from each other.
  • the magnetization alternation detected by the Hall sensors during a rotation of the drive, and with it that of the annular multipole magnet, are fed as counting pulses to a counter along with the sensor signal of the direction of rotation sensor, whereby the counting pulses are counted upward or downward depending on the direction rotation of the drive, and thus indicate the respective position of the window pane.
  • the known drive control and entrapment protection device For detection of the speed, direction of movement, and position of the window pane, the known drive control and entrapment protection device requires two magnetic disks as signal generators with four Hall sensors.
  • the signal generator provided to trigger the entrapment protection criterion by reducing the speed of the drive has only low resolution with one pole change per revolution.
  • a high-resolution sensor system For speed control of rotating drives, or with a linear adjustment such as a seat distance adjustment to obtain a constant adjustment speed over the adjustment path, a high-resolution sensor system is necessary to enable short reaction times in the control process.
  • partitioned signal generators such as multipole magnets, are subject to tolerances which may have a negative effect on control behavior.
  • the tolerances described and manufacturing-related errors from section to section of the signal generator or from sector to sector in a circular disk-shaped signal generator result in misinterpretations in the signal evaluation.
  • misinterpretations due to misinterpretations, a drop in speed is detected although the drive is operated at a constant speed, and possibly, erroneous reactions of the control arrangement of the adjustment device result, for example, an erroneous reversing of a window pane due to defective detection of a speed sensor results, which is interpreted as an entrapment situation by an entrapment protection device.
  • the object of the present invention is to provide a process for control and regulation of motor driven adjustment devices in motor vehicles which ensures exact detection of position, speed, or acceleration of the drive with high-resolution of the measured values without imposing particularly high accuracy specifications on the signal generator.
  • the process according to the invention ensures high-resolution and accuracy of the measured values for detection of the position, speed, and/or acceleration of a drive. Since, with the object of the present invention, the tolerances are determined and considered in signal evaluation on a partitioned basis, measurement errors caused by inaccuracies of the signal generator due to manufacturing difficulties are greatly reduced or eliminated such that use of signal generators without particularly high quality specifications is possible. Thus, use of less exact components in signal generation and detection is possible.
  • the tolerances may exist in the partitions.
  • the tolerances may exist in the electrical tolerances, for example, the hysteresis of the switching thresholds in Hall sensors.
  • the process according to the invention can be implemented both by means of electronic error correction or by switching technology. For electronic error correction only a single sensor is required.
  • the tolerance-associated characteristics of the signal generator partitions are preferably determined in a test movement of the signal generator.
  • Additional requirements for a process for control of an adjustment device result if, for example, the speed of a seat adjustment device is to be controlled.
  • a uniform, vibration-free starting and takeoff of the seat is important.
  • the operating point of the motor of the seat adjustment device is defined under consideration of the resonance frequencies of the seat unit consisting of the drive motor, adjustment drive, and mechanical seat components as well as the vehicle body.
  • data with regard to the speed of the seat to be adjusted as well as an adjustment energy reserve must be taken into account.
  • the correction values in the operation of the drive motor are adapted at least as long as a predefined cutoff criterion has not been met.
  • intermediate results of these values are established and used to specify control parameters of the control algorithm.
  • the control of the drive motor can begin promptly after its activation. It is, in particular, not essential to wait until all correction values, which must be taken into account in the evaluation of the output signals of the detector, have been determined to begin control of the drive motor. Instead, the promptly established intermediate results of these correction values are used here.
  • the deviation of the actual speed of the drive motor of the adjustment device from the desired speed is minimized.
  • the adaptation of the correction values provided according to the invention means that the correction values are changed as long as a specific cutoff criterion, with which the adaptation of the correction values is terminated, has not been reached.
  • the correction values can be determined successively with increasingly greater accuracy until a predefined accuracy of the correction values is achieved.
  • This should specifically also include the case in which the adaptation of the correction values continues during the entire duration of the activation of the adjustment device. This corresponds to the cutoff criterion “maximum accuracy obtainable”, i.e., the adaptation of the correction values continues here to further increase the accuracy.
  • this cutoff criterion it is also possible to define this cutoff criterion as “cutoff of adaptation of the correction values upon termination of the adjustment movement”.
  • the determination of the correction values preferably occurs automatically upon each new starting of the motor of the adjustment drive such that changes attributable to wear, environmental influences, or the like can always be considered currently.
  • the control algorithm itself can, for example, consist of a recursively created, time-discrete PID controller with limitation of variables and back calculation. Such a controller requires a set of three control parameters.
  • control parameters after reaching the operating point of the drive motor, are redefined, i.e., a new set of control parameters is selected.
  • “harder” control parameters are selected than upon starting the drive such that after reaching the operating point of the motor, only smaller fluctuations in speed are tolerated than during the starting of the motor.
  • control parameters are not redefined until both the operating point of the motor has been reached and the adaptation of the correction values has been terminated.
  • the redefinition of the control parameters after reaching the operating point of the motor means that this definition is final and no additional changes in the control parameters are undertaken as long as the motor operates at the operating point with its ideal speed.
  • the correction values are still adapted without limitation, it is, in principle, advantageous to work with new harder control parameters after reaching the operating point.
  • the pulse width modulation relationship is also preferably used for control of the speed.
  • the speed is preferably determined by averaging a plurality of signals each representing the speed of the motor.
  • floating averaging can be used.
  • the process can be executed, in particular, with a signal generator which is partitioned.
  • the correction values are used for the compensation of tolerances which can be attributed to this partitioning.
  • a partitioned signal generator is a multipole magnet which is connected to the drive shaft of the motor of the adjustment device and moves along with it. Tolerances (inaccuracies) can occur here in the dimension of the individual segments of the multipole magnets, on the one hand, and can also be attributed to different switching thresholds of the north-south and the south-north transitions of the multipole magnets. The latter are particularly discernible upon digitization of the signal produced by the signal generator.
  • the correction values thus serve, on the one hand, to compensate manufacturing-associated fluctuations in the dimension of the individual partitions of the signal generator and, on the other, to eliminate inaccuracies which must be attributed to the transitions between the individual partitions of the signal generator.
  • the accuracy of the speed data can be increased.
  • the averaging can also be performed over a larger number of values, for example, over four or eight values.
  • the present invention is independent of what principle is used for the operation of the signal generator.
  • the signal generator may operate according to a magnetic, conductive, capacitive, resistive, or even an optical principle.
  • a multipole magnet which is formed by a multipole magnetic disk rotating along with the drive shaft of the motor, serves as a magnetic signal generator.
  • the magnetic signal generated by the multipole magnet can be detected in a known manner by means of Hall sensors.
  • sprocket-wheel disks can be used to generate a signal representing the rotation of the drive shaft.
  • a signal generator provided with slits, each permeable by an optical signal when one of the slits is located between a light source and a receiver associated with the light source, may be provided to generate optical signals which represent a rotational movement of the motor.
  • the signal generator can also be a component of the electromechanical system of the drive motor of the adjustment device, for example, with the use of the collector of a commutator motor, of the coil system of a commutator-less motor, or of the piezoelement of a piezomotor motor as the signal generator.
  • the motor current itself may serve as the signal generator if this contains data necessary for the determination of the speed, as, for example, with commutator motors.
  • FIG. 1 illustrates a signal generator and an associated detector for execution of the process according to the invention
  • FIGS. 2 to 4 illustrate various characteristic lines of motor driven adjustment devices of motor vehicles, with the help of which the tolerance-associated characteristics of the partitions of a signal generator according to FIG. 1 can be determined;
  • FIG. 5 illustrates a second embodiment of the signal generator and an associated detector for execution of the process according to the invention
  • FIG. 6 illustrates a depiction of the output signals of the detector from FIG. 5.
  • FIG. 7 illustrates a graphic representation of the time-dependency of the speed of the drive motor during the operation of a seat adjustment device.
  • FIG. 1 depicts a signal generator 1 in the form of a multipole, circular magnetic disk, which is disposed on the drive shaft 10 of the rotating drive of an adjustment device in the motor vehicle and which has a total of six adjacent partitions 11 through 16 in the form of circular segments, whereby a magnetic north pole N 1 , N 2 , N 3 or a magnetic south pole S 1 , S 2 , S 3 is allocated to each circular segment 11 through 16 .
  • a Hall sensor 2 is disposed opposite this signal generator 1 as a detector. The Hall sensor, in a known manner based on the magnetic signal produced by the signal generator 1 , generates an output signal U 1 representing the rotational movement of the drive shaft 10 .
  • the output signal U 1 is fed to an electronic unit (not shown in FIG. 1) of the adjustment device for evaluation. By means of the electronic unit, the position, the speed, and the acceleration of the drive shaft 10 can be determined in a known manner.
  • a second Hall sensor 3 is disposed according to FIG. 5 as a component of the detector near the first Hall sensor 2 and produces a second output signal U 2 . From the second Hall sensor 3 , it is possible to also determine the direction of rotation of the drive shaft 10 in a simple manner. Processes for determination of the direction rotation using only one sensor are also known.
  • inaccuracies may occur in the determination of the speed, acceleration, etc.
  • the dimension of the individual circular segments 11 through 16 along the periphery of the signal generator 1 is subject to manufacturing-associated fluctuations, i.e., the actual angular dimension of the individual circular segments deviates from the ideal (theoretical) angular dimension.
  • additional inaccuracies may occur; specifically, north to south transitions as a rule have a somewhat different characteristic than the south to north transitions.
  • tolerances (inaccuracies) of the Hall sensors 2 or 3 such as tolerances (inaccuracies) of the hysteresis of the switching thresholds of Hall sensors.
  • the tolerance-associated characteristics of the partitions 11 through 16 of the signal generator 1 are preferably determined after each start of the drive of the seat adjustment device. Based on them, a correction value is determined for each partition 11 through 16 of the signal generator 1 and linked with the output signals U 1 , U 2 of the Hall sensors 2 or 3 . These correction values are assigned to the partitions 11 through 16 and stored accordingly. Upon further operation of the drive or motor, with each measurement of the speed by means of the signal generator 1 and the Hall sensors 2 , 3 , the respective measured value is linked with the associated stored correction value, whereby the tolerance-associated measurement errors are significantly reduced.
  • a test movement of the signal generator to determine the tolerance-associated characteristics of the signal generator partitions within the framework of electronic error correction can, in the case of a rotating drive which is connected according to FIG. 1 with a circular disk-shaped signal generator 1 , consist of one or a plurality of rotations of the drive and of the signal generator 1 for detection of the individual sectors or circular segments 11 through 16 .
  • the test movement can consist of traveling a straight line or a predefined curved path for detection of the individual subdivisions of the path or the like.
  • the test movement consists of a predefined movement section of the signal generator with substantially constant acceleration and/or constant speed. Based on these defined drive conditions, for example, by detection of the period of time between successive signals, their relationship to a movement period, for example, one rotation, and thus their share of the period can be determined, from which a concrete value, for example, an angle of the individual partitions, can be determined.
  • the tolerance-associated characteristics of the signal generator partitions 11 through 16 according to FIG. 1 are preferably determined after each start of the drive. However, if it is guaranteed that the system is immanent (i.e., with the assurance of a permanent unique association between the signal generator partitions and sensor signals), the tolerance-associated characteristics of the signal generator partitions 11 through 16 may be detected once and stored and permanent error correction thus guaranteed.
  • the tolerance-associated characteristics of the signal generator partitions 11 through 16 can be adaptively adjusted in predefined test cycles, i.e., after an initial determination of the tolerance-associated characteristics of the signal generator partitions 11 through 16 , after a predefined number of operational cycles, a test cycle is provided, whose correction values replace the original correction values or compensate them, for example, by averaging.
  • the electronic error correction provides, in particular, that a correction value is determined for each signal generator partition 11 through 16 and linked with the sensor signals U 1 .
  • a correction value for each individual partition or each individual sector 11 through 16 of the signal generator is determined in a measurement cycle and stored associated with this partition 11 through 16 .
  • the measured value is linked with the stored correction value, i.e., for example, multiplied, added, divided, or subtracted.
  • the measurement error associated with the individual signal generator partition 11 through 16 is greatly reduced.
  • the accuracy of the measurement value then depends only on the processing range of the numbers in the calculation process to determine the speed or the acceleration.
  • ⁇ i ⁇ *dT i +( ⁇ ′/2)*( dT i ) 2 ,
  • ⁇ is the angular velocity of the rotational movement and ⁇ ′ is its derivative over time (angular acceleration).
  • dT i represents the time interval necessary for one rotation of the signal generator by the angle, which corresponds to the actual angular dimension of the i-th signal generator partition under consideration.
  • ⁇ ′ ( ⁇ end ⁇ anf )/ dT 5 ,
  • T anf and T end respectively represent the duration of a complete rotation of the signal generator beginning with the first signal generator partition and beginning with the second signal generator partition, which are offset relative to each other by the time interval dT 1 .
  • T anf represents the duration of a (first) complete rotation of the signal generator, whereby in succession the first, then the second, third, fourth, fifth, sixth, seventh, and finally the eighth signal generator partition pass the associated sensors, i.e. in the order P 1 , P 2 , P 3 , P 4 , P 5 , P 6 , P 7 , P 8 .
  • T end represents the duration of a complete rotation of the signal generator, which is shifted by the time interval dT 1 relative to the first rotation mentioned, such that first, the second, then the third, fourth, fifth, sixth, seventh, eighth, and finally the first signal generator partition pass the associated sensor, i.e. in the order P 2 , P 3 , P 4 , P 5 , P 6 , P 7 , P 8 , P 1 .
  • dT 9 represents the time interval, during which the first signal generator partition P 1 passes the associated sensor immediately after a (first) complete rotation of the signal generator.
  • T end can be determined from T anf , by subtracting the quantity dT 1 from T anf (which represents the duration of the period of the aforementioned first complete rotation of the signal generator), which quantity comes from the first partition P 1 of the signal generator during this first rotation.
  • the time interval dT 9 is added.
  • first complete rotation of the signal generator should not imply that it is the first rotation at all (after initial operation of the drive). It is only a matter of producing a sequence of individual successive rotations in which a specific rotation is called the first complete rotation; additional rotations are then designated as the second rotation, third rotation, etc.
  • the actual angular dimension ⁇ 5 of the fifth signal generator partition is as follows:
  • ⁇ 5 ⁇ anf *dT 5 +( ⁇ end ⁇ anf )/(2* dT 5 )*( dT 5 ) 2 ,
  • ⁇ 5 0.5*( ⁇ end + ⁇ anf )* dT 5 .
  • the corrected (actual) angular dimension ⁇ i of any partition of the signal generator can be determined in that first, during a (first) rotation of the signal generator, the time intervals during which individual partitions pass the associated sensor are determined and T anf is determined therefrom. Then, the time interval during which the first partition of signal generator passes the sensor during the immediately following (second) rotation is also measured. From this, using T anf with the above equations, T end can be calculated. T anf and T end finally yield the corrected (actual) angular dimension of the corresponding partition of the signal generator.
  • the cut off criterion to terminate the determination of tolerance-associated characteristics of the signal generator partition is then met when the correction values or corrected signal generator partitions fall within a predefined tolerance range in at least two consecutive cycles and/or the sum of the correction values or corrected partitions is equal to the value of one period of the signal generator within one cycle (with the exception of tolerable deviations).
  • Another variant for the determination of the cutoff criterion for the correction process consists in establishing a floating average or in a linkage of the two variants previously presented, i.e., in each test cycle the sum of the correction values or corrected signal generator partitions within one cycle must be the same as the value of one period of the signal generator and the correction values for corrected signal generator partitions of consecutive cycles must fall within a predefined tolerance range.
  • the algorithm calculates the precise speed values for the corresponding signal generator partitions using the correction values, i.e., in the case of a circular disk-shaped signal generator, the precise speed values for the individual sectors.
  • FIGS. 2 through 4 present various possibilities for determination of the tolerance associated characteristics of the signal generator partitions, as well as the subsequent compensation with the sensor signals with reference to characteristic lines of a motor driven adjustment device in motor vehicles, as velocity or speed versus a time t. These graphics should illustrate that the test movement may, in particular, be a part or a component of the operational cycle of a motor driven adjustment device, more particularly, when the test movement is performed after each start of the drive to determine the tolerance-associated characteristics of the signal generator partitions.
  • FIG. 2 depicts in a speed-time diagram the temporal course of a constantly accelerated adjustment device in which the determination of the tolerance-associated characteristics of the signal generator partitions takes place during the time interval between t 1 and t 2 , while in a subsequent time interval, t 4 through t 5 , of the same operation of the adjustment device or its drive, a compensation with the sensor output signals is performed.
  • FIG. 3 depicts in the speed-time diagram the temporal course of a motor driven adjustment device moving at a constant speed in which the tolerance-associated characteristics of the signal generator partitions occurs in the time interval between t 1 and t 2 , while a corresponding compensation is undertaken during the time interval between t 4 and t 5 .
  • FIG. 4 is a temporal graphic of the speed of a motor driven adjustment device, which is accelerated up to the time t 3 with constant acceleration until it reaches a rated speed n nenn or a rated velocity and then is further moved at a constant velocity or a constant rate of speed.
  • the determination of the tolerance-associated characteristics of the signal generator partitions in the time interval between t 1 and t 2 during run-up, i.e., constant acceleration of the motor driven adjustment device, while the compensation takes place during the time interval between t 4 and t 5 after reaching the rated speed.
  • a switching technology variant of the process according to the invention requires, according to FIG. 5, two sensors 2 , 3 spaced relative to each other along the path of movement of the signal generator.
  • the sensors 2 , 3 are associated with the six-pole signal generator 1 . Because of manufacturing-related inaccuracies, the six sectors of the six-pole magnet are not the same size and possibly not magnetized with the same strength, such that with a rotation of the magnetic disk 1 at a constant speed or a constant acceleration, the Hall sensors 2 , 3 detect different measurement times for the individual sectors.
  • the rising and/or falling flanks of the sensor signals U 1 , U 2 of the two sensors 2 , 3 are detected and the time difference between sensor signals U 1 , U 2 associated with signals of the same partition of the signal generator 1 is determined and evaluated for determination of the tolerance-associated characteristics of the signal generator partitions 11 through 16 .
  • the speed of the signal generator 1 is determined, in that the time interval, in which a specific point of the signal generator 1 , i.e., one N-S transition or one S-N transition after another, passes the two sensors 2 , 3 , is measured.
  • the speed of the signal generator and thus of the drive is obtained.
  • the detection of the time difference between the rising or falling flanks of the two sensor output signals eliminates different lengths of signal generator partitions or different angular sections of the signal generator sectors and thus eliminates manufacturing inaccuracies of the signal generator.
  • the distance a between the two sensors along the path of movement of the signal generator 1 can be arbitrary.
  • the distance a may include an angle of 90° between the sensors 2 , 3 but with a distance which is greater than the dimension of the smallest partition or a multiple thereof, speed or acceleration changes of the signal generator 1 are more significant such that the limits of measurement accuracy are lower.
  • the sensors 2 , 3 are disposed at a distance a from each other which is preferably less than or equal to the smallest partition of the signal generator 1 , for a current speed determination from the individual signal generator partitions, instead of averaging.
  • FIG. 6 depicts the sensor output signals of the exemplary embodiment of FIG. 5 and illustrates the different length time intervals between the rising and falling flanks of the signals triggered, for example, by the unequal sectors 11 and 12 of the magnetic disk 1 . If the time difference T between the rising or falling flanks of the sensor output signals of the two Hall sensors 1 , 2 is determined, the different pulse lengths caused by unequal lengths of the individual sectors are eliminated in the detection of the individual sectors.
  • FIGS. 1 or 5 which differ only with regard to the number of sensors associated with the signal generator) in connection with FIG. 7, the control of a motor driven adjustment device, provided according to a second aspect of the invention immediately after the motor is turned on and under consideration of the simultaneous determination of correction values, is explained.
  • the correction values are preferably determined recursively.
  • the cutoff criterion for termination of the determination of correction values is met if the correction values in at least two consecutive cycles are within a predefined tolerance range and/or the sum of the corrected partitions of the signal generator 1 during one cycle are within a predefined tolerance range by the value of one period of the signal generator (i.e., the sum of the angular dimensions of the individual segments of the magnetic disk equals 360°, with admissible deviations).
  • FIG. 7 plots the speed n of the drive motor of a seat adjustment device against the time t. Also, in this diagram, n AP indicates the ideal speed of the motor at its operating point and in t AP is the point in time by which the motor should have run up to its ideal speed.
  • the line referenced with S in the diagram according to FIG. 7 indicates the ideal speed of the motor in a defined movement of the seat adjustment device at each time t.
  • the motor in a first time interval (up to the time t AP ) the motor should be run up at a constant acceleration (on a “ramp”) up to the ideal speed at the operating point. Then, the actual adjustment movement should be carried out at a constant speed. Then, the motor is run down again at a constant negative gradient, i.e., along a declining ramp.
  • the object is now to control the actual speed represented in the diagram according to FIG. 7 by the line referenced with T such that the deviations of the actual speed from the ideal speed are as small as possible.
  • the motor tolerance-associated characteristic values of the signal generator are determined and correction values are determined from the characteristic values.
  • the correction values are taken into account in the evaluation of the output signals and are adapted at least until a predefined cutoff criterion has been met.
  • intermediate results of these correction values are already used during the determination and adaptation of the correction values to specify control parameters of the control algorithm. Based on the last measure, the control of the speed can already begin before the correction values have been adequately accurately determined. In particular, control of the speed along the rising ramp can take place already when the motor is started (as soon as the first intermediate results have been determined).
  • control parameters which permit large fluctuations of speed around the ideal value, are used here.
  • correspondingly “harder” control parameters are then used to control the speed such that the speed may then deviate only slightly from the ideal speed.
  • correction values of the control parameters determined according to this process may also be taken into account during the run down of the motor at the end of the adjustment movement.
US09/360,601 1998-07-24 1999-07-26 Method for the control of motor driven adjustment devices in motor vehicles Expired - Lifetime US6225770B1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE19835091A DE19835091C1 (de) 1998-07-24 1998-07-24 Verfahren zur Steuerung und Regelung motorisch angetriebener Verstelleinrichtungen in Kraftfahrzeugen
DE19835091 1998-07-24
DE19916400 1999-04-06
DE19916400A DE19916400C1 (de) 1998-07-24 1999-04-06 Verfahren zur Regelung motorisch angetriebener Verstelleinrichtungen in Kraftfahrzeugen

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EP (1) EP0974479B1 (fr)
DE (2) DE19916400C1 (fr)
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US20030164692A1 (en) * 2002-01-16 2003-09-04 Ballard Power Systems Corporation Method and apparatus for improving speed measurement quality in multi-pole machines
US20030222614A1 (en) * 2002-05-31 2003-12-04 Whinnery Joseph P. Motor speed-based anti-pinch control apparatus and method
WO2003102338A2 (fr) * 2002-05-31 2003-12-11 Valeo Electrical Systems, Inc. Appareil de commande anti-pincement base sur la vitesse d'un moteur et procede associe avec detection et compensation d'une condition de route difficile
WO2003102339A2 (fr) * 2002-05-31 2003-12-11 Valeo Electrical Systems, Inc. Appareil de commande anti-pincement base sur la vitesse d'un moteur et procede associe avec detection et compensation de rampe de fin de zone
US6714003B2 (en) 2002-01-25 2004-03-30 American Electronic Components, Inc. Frequency compensation for rotating target sensor
US20080252285A1 (en) * 2007-02-28 2008-10-16 Caterpillar Inc. Machine with a rotary position-sensing system
US20080272729A1 (en) * 2007-05-05 2008-11-06 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Assembly of a Motor Vehicle Body and Control Device of Such an Assembly
US20090091216A1 (en) * 2006-02-04 2009-04-09 Carsten Abert Adjustment Drive of a Motor Vehicle
GB2455800A (en) * 2007-12-21 2009-06-24 Weston Aerospace Ltd Method and apparatus for monitoring the rotational speed of a shaft
US20090177434A1 (en) * 2007-12-21 2009-07-09 Weston Aerospace Limited Method and apparatus for monitoring the rotational speed of the shaft of a gas turbine
US20090177433A1 (en) * 2007-12-21 2009-07-09 Weston Aerospace Limited Method and apparatus for monitoring the rotational speed of shaft
US20090177363A1 (en) * 2007-12-21 2009-07-09 Weston Aerospace Limited Method and apparatus for monitoring gas turbine blades
US20100223025A1 (en) * 2007-09-28 2010-09-02 Stefan Holzmann Method and device for balancing production-related inaccuracies of the magnetic wheel of an electromotive drive of a vehicle
US20110018528A1 (en) * 2009-07-24 2011-01-27 Marco Semineth Method and device for determining the actuation position of an adjusting element of a motor vehicle
US20110050153A1 (en) * 2009-08-25 2011-03-03 Randal David Stewman Control mechanism for accelerating magnetically suspended rotor
US20140000815A1 (en) * 2012-06-28 2014-01-02 Sofineco Unknown
KR20140073502A (ko) * 2011-09-20 2014-06-16 로베르트 보쉬 게엠베하 회전 자계 기계의 속도 및 로터 위치를 검출하기 위한 방법 및 장치
US9109924B2 (en) 2010-03-02 2015-08-18 Brose Fahrzeugteile Gmbh & Co. Kg, Hallstadt Method for determining the set position of an adjustment part
EP3018819A3 (fr) * 2014-11-07 2016-06-29 Continental Automotive Systems, Inc. Vitesse d'un moteur à haute résolution pour commande de vitesse en boucle fermée
US20170212496A1 (en) * 2016-01-21 2017-07-27 Canon Kabushiki Kaisha Motor driving apparatus
US20170275930A1 (en) * 2016-03-25 2017-09-28 Tesla Motors, Inc. Angle-detecting door handle assembly
US9825563B2 (en) 2014-09-19 2017-11-21 Flow Control LLC Method and means for detecting motor rotation

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US6597139B1 (en) * 1998-09-03 2003-07-22 Webasto Dachsysteme Gmbh Drive device and method for moving a vehicle part
US20020135928A1 (en) * 2000-06-01 2002-09-26 Fujitsu Limited Disk drive unit and control method for same
US6721122B2 (en) * 2000-06-01 2004-04-13 Fujitsu Limited Disk drive unit and control method for same
US20030164692A1 (en) * 2002-01-16 2003-09-04 Ballard Power Systems Corporation Method and apparatus for improving speed measurement quality in multi-pole machines
US7190145B2 (en) * 2002-01-16 2007-03-13 Ballard Power Systems Corporation Method and apparatus for improving speed measurement quality in multi-pole machines
US6714003B2 (en) 2002-01-25 2004-03-30 American Electronic Components, Inc. Frequency compensation for rotating target sensor
WO2003102339A2 (fr) * 2002-05-31 2003-12-11 Valeo Electrical Systems, Inc. Appareil de commande anti-pincement base sur la vitesse d'un moteur et procede associe avec detection et compensation de rampe de fin de zone
WO2003102339A3 (fr) * 2002-05-31 2004-02-05 Valeo Electrical Sys Inc Appareil de commande anti-pincement base sur la vitesse d'un moteur et procede associe avec detection et compensation de rampe de fin de zone
WO2003102338A3 (fr) * 2002-05-31 2004-02-12 Valeo Electrical Sys Inc Appareil de commande anti-pincement base sur la vitesse d'un moteur et procede associe avec detection et compensation d'une condition de route difficile
WO2003103349A3 (fr) * 2002-05-31 2004-03-25 Valeo Electrical Sys Inc Appareil de commande anti-pincement base sur la vitesse d'un moteur et procede associe
WO2003102338A2 (fr) * 2002-05-31 2003-12-11 Valeo Electrical Systems, Inc. Appareil de commande anti-pincement base sur la vitesse d'un moteur et procede associe avec detection et compensation d'une condition de route difficile
WO2003103349A2 (fr) * 2002-05-31 2003-12-11 Valeo Electrical Systems, Inc. Appareil de commande anti-pincement base sur la vitesse d'un moteur et procede associe
US6788016B2 (en) 2002-05-31 2004-09-07 Valeo Electrical Systems, Inc. Motor speed-based anti-pinch control apparatus and method with endzone ramp detection and compensation
US6822410B2 (en) 2002-05-31 2004-11-23 Valeo Electrical Systems, Inc. Motor speed-based anti-pinch control apparatus and method
US20030222614A1 (en) * 2002-05-31 2003-12-04 Whinnery Joseph P. Motor speed-based anti-pinch control apparatus and method
US8264180B2 (en) 2006-02-04 2012-09-11 Brose Fahrzeugteile Gmbh & Co. Adjustment drive of a motor vehicle
US20090091216A1 (en) * 2006-02-04 2009-04-09 Carsten Abert Adjustment Drive of a Motor Vehicle
US20080252285A1 (en) * 2007-02-28 2008-10-16 Caterpillar Inc. Machine with a rotary position-sensing system
US20080272729A1 (en) * 2007-05-05 2008-11-06 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Assembly of a Motor Vehicle Body and Control Device of Such an Assembly
US7863846B2 (en) * 2007-05-05 2011-01-04 Dr. Ing. H.C. F. Porsche Ag Assembly of a motor vehicle body and control device of such an assembly
US20100223025A1 (en) * 2007-09-28 2010-09-02 Stefan Holzmann Method and device for balancing production-related inaccuracies of the magnetic wheel of an electromotive drive of a vehicle
US8433538B2 (en) 2007-09-28 2013-04-30 Continental Automotive Gmbh Method and device for balancing production-related inaccuracies of the magnetic wheel of an electromotive drive of a vehicle
US20090177433A1 (en) * 2007-12-21 2009-07-09 Weston Aerospace Limited Method and apparatus for monitoring the rotational speed of shaft
GB2455800B (en) * 2007-12-21 2010-07-21 Weston Aerospace Ltd Method and apparatus for monitoring the rotational speed of a shaft
US7840370B2 (en) 2007-12-21 2010-11-23 Weston Aerospace Limited Method and apparatus for monitoring the rotational speed of shaft
US7856337B2 (en) 2007-12-21 2010-12-21 Weston Aerospace Limited Method and apparatus for monitoring the rotational speed of the shaft of a gas turbine
US20090177363A1 (en) * 2007-12-21 2009-07-09 Weston Aerospace Limited Method and apparatus for monitoring gas turbine blades
US8229646B2 (en) 2007-12-21 2012-07-24 Weston Aerospace Limited Method and apparatus for monitoring gas turbine blades
US20090177434A1 (en) * 2007-12-21 2009-07-09 Weston Aerospace Limited Method and apparatus for monitoring the rotational speed of the shaft of a gas turbine
GB2455800A (en) * 2007-12-21 2009-06-24 Weston Aerospace Ltd Method and apparatus for monitoring the rotational speed of a shaft
US20110018528A1 (en) * 2009-07-24 2011-01-27 Marco Semineth Method and device for determining the actuation position of an adjusting element of a motor vehicle
US8552715B2 (en) 2009-07-24 2013-10-08 Brose Fahrzeugteile Gmbh & Co. Method and device for determining the actuation position of an adjusting element of a motor vehicle
US20110050153A1 (en) * 2009-08-25 2011-03-03 Randal David Stewman Control mechanism for accelerating magnetically suspended rotor
US9109924B2 (en) 2010-03-02 2015-08-18 Brose Fahrzeugteile Gmbh & Co. Kg, Hallstadt Method for determining the set position of an adjustment part
KR20140073502A (ko) * 2011-09-20 2014-06-16 로베르트 보쉬 게엠베하 회전 자계 기계의 속도 및 로터 위치를 검출하기 위한 방법 및 장치
US20150048768A1 (en) * 2011-09-20 2015-02-19 Martin Braun Method and device for determining the rotor position and speed of a rotating field machine
US9966884B2 (en) * 2011-09-20 2018-05-08 Robert Bosch Gmbh Method and device for determining the rotor position and speed of a rotating field machine
US20140000815A1 (en) * 2012-06-28 2014-01-02 Sofineco Unknown
US9825563B2 (en) 2014-09-19 2017-11-21 Flow Control LLC Method and means for detecting motor rotation
EP3018819A3 (fr) * 2014-11-07 2016-06-29 Continental Automotive Systems, Inc. Vitesse d'un moteur à haute résolution pour commande de vitesse en boucle fermée
US20170212496A1 (en) * 2016-01-21 2017-07-27 Canon Kabushiki Kaisha Motor driving apparatus
US10591893B2 (en) * 2016-01-21 2020-03-17 Canon Kabushiki Kaisha Motor driving apparatus
US20170275930A1 (en) * 2016-03-25 2017-09-28 Tesla Motors, Inc. Angle-detecting door handle assembly

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ES2205707T3 (es) 2004-05-01
DE19916400C1 (de) 2000-05-25
DE59906568D1 (de) 2003-09-18
EP0974479B1 (fr) 2003-08-13
EP0974479A2 (fr) 2000-01-26
EP0974479A3 (fr) 2000-02-09

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